Verifying Cyber-Physical Interactions in Safety-Critical Systems

@article{Mitra2013VerifyingCI,
  title={Verifying Cyber-Physical Interactions in Safety-Critical Systems},
  author={Sayan Mitra and Tichakorn Wongpiromsarn and Richard M. Murray},
  journal={IEEE Security & Privacy},
  year={2013},
  volume={11},
  pages={28-37}
}
Safety-compromising bugs in software-controlled systems are often hard to detect. In a 2007 DARPA Urban Challenge vehicle, such a defect remained hidden during more than 300 miles of test-driving, manifesting for the first time during the competition. With this incident as an example, the authors discuss formalisms and techniques available for safety analysis of cyber-physical systems. 
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